Position Control of brushless DC Motor Driven Gantry Robot

1
Position Control of brushless DC Motor Driven
Gantry Robot

• Presenter David Fu
• Advisor Prof. J.J. Chou
• 2002/5/22

2
Content

• Introduction
• (Mathematical Modeling)
• Equipment
• Demonstration
• Summary

3
Introduction

• Essential Element
• C, H, O, N, P, K, S, Ca, Mg, Fe, Mn, Cu, B, Zn,
  Mo, Cl
• Nutrient Deficient Syndrome
• Color
• Shape
• Growth Rate

4
Introduction

• Well Trained Crop Grower Experienced Farmer
• Machine Vision may be introduced

5
Equipment
6
Equipment
7
Equipment
Image Gather system
Converter
X-Y Table
Camera
X Axis Actuator
Filter
Y Axis Actuator
Micro Controller
Nutrient
Gather Card
A/D
D/A, PWM
Experimental Crop
Motor
Image Program
Control Program
Relay
Magnetic Valve
8
Equipment
9
Equipment

• DC motor driver
• 24Volt
• 12 Pulse/round
• CW gt Low Active
• CCW gt Low Active
• 150 Gear Box ratio
• DC motor servo controller
• 5Vgt24V
• 24Vgt5V

10
Emulation System

• Optical Encoder
• DC motor driver
• Compatible to real system
• ATMEL 89C51
• DC motor servo controller
• ATMEL 89C51
• Same with real system

11
Demonstration

• Photo Encoder
• Servo Controllergt DC motor servolized
• DC motor driver
• PC connection / Advantech PCL 818

12
Summary

• Performance of the target system is well in the
  Emulation System
• Precision position control
• Automatic image/data acqusition
• Others